My modified version of the peanut sauce recipe:
Put 1/2 cup peanut butter in a bowl. Add 1/2 cup boiling hot water. Stir to combine. Add 1 clove minced garlic, 2 T sugar, 2 T soy sauce, 1 T vinegar. Stir some more. Optional adds: chopped cilantro, cayene pepper or chilli oil, and salt, to taste. (I didn't add any of these, I was going for simple as possible)
* This comes out thin enough to pour; if you want it thicker add less hot water. Just titrate til you got the consistence you want.